Merge topic/rc-v3.1.4

...otTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp

src/Mathematics/intermediate-qp-matrices.cpp

src/Mathematics/intermediate-qp-matrices.hh

src/PatternGeneratorInterfacePrivate.cpp

src/PreviewControl/SupportFSM.cpp

src/PreviewControl/SupportFSM.h

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h

src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp

src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh

src/privatepgtypes.cpp

src/privatepgtypes.h

tests/TestHerdt2010.cpp